The Boeing Company

Rockwell International Corporation

United States of America As Represented by the Secretary of the Air Force

Thomas P Weismuller

David Leonard Caballero

David K Lee

Margie M Nicholson

Theodore J La Chapelle, Jr

Charles R Younger

Embodiments herein describe tracking the location and orientation of a target in a digital image. In an embodiment, this tracking can be used to control navigation for a vehicle. In an embodiment, a digital image can be captured by a visual sensor is received. A first array including a plurality of binary values related to the pixel velocity of a first plurality of pixels in the digital image as compared to corresponding pixels in a first one or more prior digital images can be generated. A second array including a plurality of values related to the standard deviation of pixel intensity of the first plurality of pixels in the digital image as compared to corresponding pixels in a second one or more prior digital images can be further generated. A plurality of thresholds relating to the values in the second array can be determined. A plurality of target pixels and a plurality of background pixels can be identified in the digital image, based on the first array, the second array, and the plurality of thresholds. A binary image related to the digital image, based on the identified plurality of target pixels and the identified plurality of background pixels, and identifying at least one of a location and an orientation of the target in the digital image based on the binary image, can be generated. In an embodiment, a command can be transmitted to a navigation system for a vehicle, to assist in navigating the vehicle toward the target, based on the identified at least one of a location and an orientation of the target.

Cluttered background removal from imagery for object detection

A method and apparatus for resolving a set of objects in an image of an area. A partition that captures a set of objects is identified using the image. The partition is comprised of a group of contiguous object pixels. A number of local max pixels are identified from the group of contiguous object pixels in the partition. A quantitative resolution of the set of objects captured in the partition is performed based on the number of local max pixels identified.

Resolving closely spaced objects

A computer-implemented method and apparatus for detecting an object of interest. An edge image is generated from an image of a scene. A sectioned structure comprising a plurality of sections is generated for use in analyzing the edge image. The edge image is analyzed using the sectioned structure to detect a presence of the object of interest in the edge image.

Isotropic feature matching

A method of navigating a space vehicle. An image of a planet surface is received. The received image is processed to identify edge pixels and angle data. The edge pixels and angle data are used to identify planetary features by shape, size, and spacing relative to other planetary features. At least some of the planetary features are compared with a predefined planet surface description including sizes and locations of planet landmarks. One or more matches are determined between the planetary feature(s) and the planet surface description. Based on the match(es), a location of the space vehicle relative to the planet is determined.

Methods and apparatus for planetary navigation

A method and system for increasing the certainty of a silhouette matching process, where the process is being used for attitude determination of an object of interest, for example an aircraft. The method involves using one or more mask images that include structure or features that may or may not always be associated with the object of interest, and overlaying the mask image(s) onto a library image of the aircraft. Each pixel of the library image is compared against corresponding pixels of the mask image(s) to determine which pixels represent ambiguous areas of the library image. Those pixels are eliminated from consideration in determining a Fit score, where the Fit score represents a percentage value indicative of a certainty of the matching process in identifying the attitude of the aircraft. The method and system is applicable to a wide ranging variety of object detection applications.

Method and system for applying silhouette tracking to determine attitude of partially occluded objects

A method of comparing a two-dimensional image of an object to library images of that object as seen from a variety of predetermined orientations. The method further includes a rating of the accuracy of fit of the object image to each library image to determining the overall best fit and, thus, the orientation of the object.

Method for determining attitude of an object

An apparatus for measuring the thickness of a coating on a work piece includes a table for receiving and positioning the coated work piece and beta-ray backscatter measuring instrument for determining the thickness of the coating on the work piece. An air gauge measures accurately the position of the surface of the work piece and causes the measuring detector instrument to be positioned a predetermined distance above the surface of the work piece. The air gauge includes an orifice having a known positional relationship with respect to the beta-ray measuring instrument. The air gauge positions the orifice a known distance above a particular location on the surface of the work piece. The apparatus then positions the beta-ray measuring instrument over that particular location on the work piece, at the predetermined distance above the surface.

Apparatus and method for contactless measurement of coating thickness

An apparatus and method for performing liquid phase epitaxy, mercury containment, substrate leveling, in situ annealing/doping and gas flushing in a liquid phase epitaxy growth of HgCdTe. The apparatus is a self contained unit comprising a transparent cover for providing access to the interior of the apparatus and for forming a gas impermeable seal between the apparatus and the cover. The apparatus also contains a leveling apparatus, a gas flushing apparatus, and an apparatus for the in situ doping/quench annealing of HgCdTe epitaxial films. The leveling apparatus comprising channels and leveling balls that travel therein which align themselves between scribe marks when the apparatus is in a level position. The gas flushing apparatus is comprised of a gaseous purge ball valve that opens and seals a flushing channel that lead from the interior of the invention to the external environment. The in situ doping/quench annealing apparatus is accomplished via a stabilized chamber ball valve which operates independently with respect to the gaseous purge ball valve, thereby allowing in situ doping leveling without effecting the atmospheric integrity of the vessel.

Liquid phase epitaxy apparatus and method

An apparatus and method for measuring the thickness of thin basal coatings on work pieces. The apparatus comprises a beta backscatter type measuring instrument including a work piece positioning system to permit the precise positioning of a coated work piece surface to radiation in a repeatable, non-destructive, non-contacting position with respect to the radiation source.

Contactless apparatus and method for thickness determination of coatings

An apparatus and method for performing liquid phase epitaxy, mercury containment, substrate leveling, in situ annealing/doping and gas flushing in a liquid phase epitaxy growth of HgCdTe. The apparatus is a self contained unit comprising a transparent cover for providing access to the interior of the apparatus and for forming a gas impermeable seal between the apparatus and the cover. The apparatus also contains a leveling apparatus, a gas flushing apparatus, and an apparatus for the in situ doping/quench annealing of HgCdTe epitaxial films. The leveling apparatus comprises channels and leveling balls that travel therein which align themselves between scribe marks when the apparatus is in a level position. The gas flushing apparatus is comprised of a gaseous purge ball valve that opens and seals a flushing channel that leads from the interior of the invention to the external environment. The in situ doping/quench annealing apparatus is accomplished via a stabilization chamber ball valve which operates independently with respect to the gaseous purge ball valve, thereby allowing in situ doping leveling without effecting the atmospheric integrity of the vessel.

A chemically coupled color-changing matrix display device is disclosed wherein the display material is a surfactant-treated color changing metal-diphthalocyanine complex. For example, lutetium diphthalocyanine may be treated with a mixture of silicone glycol and imidazoline surfactants to provide a deposit having substantially the same color as electrolytically cycled deposits of the same material. Also disclosed is a non-electronic chemical sensing device comprising a surfactant-treated electrochromic metal diphthalocyanine complex. Upon exposure to a hazardous gas such as chlorine, the surfactant-treated material undergoes a change in color.

Electrochromic display device

A deposit of electrochromic display material such as, for example, lutetium diphthalocyanine chemically treated to have substantially the same color as electrolytically cycled deposits of the same display material.

Growing community of inventors

Orange, CA, United States of America

Thomas P Weismuller